Controlling legs for locomotion—insights from robotics and neurobiology

摘要: Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control an active research area both neurobiology robotics, a large growing body work. This paper gives overview current knowledge on legged animals give researchers from biology robotics fields. We try summarize neurobiological basis animals, emphasizing principles seen different species. In section robots, we review approaches controller design slight emphasis biped control. show where parallels between robotic controllers exist how may benefit each other. Finally, discuss two fields diverges suggest ways bridge these gaps.